The kinematic design of spatial, hybrid closed chains including planar parallelograms

It is presented an integral approach for the kinematic design of spatial, hybrid closed chains which include planar parallelograms into their kinematic structure. It is based on a systematic application of recursive formulae intended for describing the evolution of screws through time. Due to the pa...

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Bibliographic Details
Published in:Robotics and computer-integrated manufacturing 2011-06, Vol.27 (3), p.614-626
Main Authors: Jesús Cervantes-Sánchez, J., Rico-Martínez, José M., Tadeo-Chávez, Alejandro, Pérez-Soto, Gerardo I.
Format: Article
Language:English
Subjects:
Design engineering
Evolution
Industrial robots
Integrals
Kinematic design
Kinematics
Lie algebras
Lie groups
Parallelograms
Planar parallelogram
Recursive
Screw theory
Spatial closed chains
Spatial parallel manipulators
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Summary:It is presented an integral approach for the kinematic design of spatial, hybrid closed chains which include planar parallelograms into their kinematic structure. It is based on a systematic application of recursive formulae intended for describing the evolution of screws through time. Due to the particular nature of the proposed approach, it can be closely related with Lie algebras and allows to overcome the lacking of group structure offered by a parallelogram when it is going to be considered as a component of a hybrid closed chain. Several application examples are presented in order to show the potential of the proposed approach.
ISSN:0736-5845
1879-2537
DOI:10.1016/j.rcim.2010.10.008